//-------------------------------------------------
// NAME: M. Benjamin, MIT CSAIL
// FILE: $(VNAME).moos
//-------------------------------------------------

ServerHost = localhost
ServerPort = $(BOT_MOOSDB)
Community  = $(VNAME)

#include plug_origin_warp.moos

//------------------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 50
   
  Run = MOOSDB           @ NewConsole = false
  Run = pRealm           @ NewConsole = false
  Run = uProcessWatch    @ NewConsole = false
  Run = pShare           @ NewConsole = false
  Run = uSimMarine       @ NewConsole = false
  Run = pLogger          @ NewConsole = false
  Run = pNodeReporter    @ NewConsole = false
  Run = pMarinePID       @ NewConsole = false
  Run = pHelmIvP         @ NewConsole = false
  Run = pHostInfo        @ NewConsole = false
  Run = uFldNodeBroker   @ NewConsole = false
  Run = uLoadWatch       @ NewConsole = false
  Run = pObstacleMgr     @ NewConsole = false
  Run = pContactMgrV20   @ NewConsole = false
#ifdef VNAME henry
//  Run = uTimerScript     @ NewConsole = false
#endif

//--------------------------------------------------------
// uTimerScript Configuration Block   

ProcessConfig = uTimerScript
{
  AppTick   = 8
  CommsTick = 8

  paused     = false
  reset_max  = unlimited
  reset_time = end

  randvar = varname=X1, min=0,    max=150,  key=at_reset
  randvar = varname=Y1, min=-225,  max=-175,   key=at_reset

  event = var=TRACKED_FEATURE, val="x=$[X1], y=$[Y1], label=TEST_$[TCOUNT]", time=0.05
}

	
//----------------------------------------------------
// pHelmIvP Configuration Block  

ProcessConfig = pHelmIvP
{
  AppTick    = 4
  CommsTick  = 4
  
  Behaviors    = targ_$(VNAME).bhv  
  Verbose      = false
  Domain       = course:0:359:360
  Domain       = speed:0:5:26

	hold_on_apps = pContactMgrV20
}
	
//--------------------------------------------------------
// pNodeReporter Configuration Block 

ProcessConfig = pNodeReporter
{
  AppTick     = 2
  CommsTick   = 2

  vessel_type = kayak
  terse_reports = true
}

//--------------------------------------------------------
// pContactMgrV20 Configuration Block

ProcessConfig = pContactMgrV20
{
  AppTick   = 2
  CommsTick = 2

  decay = 30,60

  alert_verbose = true

  contact_max_age = 35
  display_radii   = true
	display_radii_id = avd

	//match_region = pts = {60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40}
	//match_type = kayak, uuv
	
  //alert = id=say, onflag=SAY_MOOS=hello,
  //alert = id=say, offflag=SAY_MOOS=bye,
  //alert = id=say, alert_range=80, cpa_range=100

  display_radii = true
  alert_range_color = gray70
  cpa_range_color   = gray30
}

#include plug_uFldNodeBroker.moos
#include plug_pShare.moos
#include plug_pHostInfo.moos
#include plug_uSimMarine.moos
#include plug_pMarinePID.moos
#include plug_pLogger.moos
#include plug_uProcessWatch.moos
#include plug_uLoadWatch.moos
#include plug_pObstacleMgr.moos